Synchronous imitation control for biped robot based on wearable human motion analysis system

摘要

To achieve accurate and efficient interaction with humans, robot training is indispensable to make robot cooperate with different host. We are focusing on development of a human motion analysis system to real-time measure body segment orientations. Imitation control was applied on a biped robot based on measurements of the developed wearable sensor system. Experimental study was implemented to verify the synchronous imitation control method proposed for the biped robot, and verification results proved the feasibility of the proposed control method. Through comparing results obtained from direct imitation control method and improved method based on training algorithm considering the personal motion pattern, we found that the imitation control accuracy was markedly improved, and the three-axial average errors of x- y- and z- moving displacements related to leg length were 12%, 8% and 4% respectively.